﻿#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include "kinematics.h"

namespace Ui {
class MainWindow;
}

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = 0);
    ~MainWindow();

private Q_SLOTS:
    void fk();
    void ik();

    void on_fkpushButton_clicked();

    void on_pushButton_to_euler_clicked();

    void on_pushButton_to_wxyz_clicked();

private:
    Ui::MainWindow *ui;
    QString q2str(const QVector<double> &Q);
    CIRT_LBR::Transform T;
};

#endif // MAINWINDOW_H
